Utils.h

Go to the documentation of this file.

/*
 *      This file is part of qpOASES.
 *
 *      qpOASES -- An Implementation of the Online Active Set Strategy.
 *      Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
 *      Christian Kirches et al. All rights reserved.
 *
 *      qpOASES is free software; you can redistribute it and/or
 *      modify it under the terms of the GNU Lesser General Public
 *      License as published by the Free Software Foundation; either
 *      version 2.1 of the License, or (at your option) any later version.
 *
 *      qpOASES is distributed in the hope that it will be useful,
 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 *      See the GNU Lesser General Public License for more details.
 *
 *      You should have received a copy of the GNU Lesser General Public
 *      License along with qpOASES; if not, write to the Free Software
 *      Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef QPOASES_UTILS_H
#define QPOASES_UTILS_H

#include <qpOASES_e/MessageHandling.h>


BEGIN_NAMESPACE_QPOASES


returnValue qpOASES_printV(     const real_t* const v,  
                                                        int n                                   
                                                        );

returnValue qpOASES_printPV(    const real_t* const v,          
                                                                int n,                                          
                                                                const int* const V_idx          
                                                                );

returnValue qpOASES_printNV(    const real_t* const v,  
                                                                int n,                                  
                                                                const char* name                
                                                                );

returnValue qpOASES_printM(     const real_t* const M,  
                                                        int nrow,                               
                                                        int ncol                                
                                                        );

returnValue qpOASES_printPM(    const real_t* const M,          
                                                                int nrow,                                       
                                                                int ncol        ,                               
                                                                const int* const ROW_idx,       
                                                                const int* const COL_idx        
                                                                );

returnValue qpOASES_printNM(    const real_t* const M,  
                                                                int nrow,                               
                                                                int ncol,                               
                                                                const char* name                
                                                                );

returnValue qpOASES_printI(     const int* const _index,        
                                                        int n                                           
                                                        );

returnValue qpOASES_printNI(    const int* const _index,        
                                                                int n,                                          
                                                                const char* name                        
                                                                );


returnValue qpOASES_myPrintf(   const char* s   
                                                                );


returnValue qpOASES_printCopyrightNotice( );


returnValue qpOASES_readFromFileM(      real_t* data,                           
                                                                        int nrow,                                       
                                                                        int ncol,                                       
                                                                        const char* datafilename        
                                                                        );

returnValue qpOASES_readFromFileV(      real_t* data,                           
                                                                        int n,                                          
                                                                        const char* datafilename        
                                                                        );

returnValue qpOASES_readFromFileI(      int* data,                                      
                                                                        int n,                                          
                                                                        const char* datafilename        
                                                                        );


returnValue qpOASES_writeIntoFileM(     const real_t* const data,       
                                                                        int nrow,                                       
                                                                        int ncol,                                       
                                                                        const char* datafilename,       
                                                                        BooleanType append                      
                                                                        );

returnValue qpOASES_writeIntoFileV(     const real_t* const data,       
                                                                        int n,                                          
                                                                        const char* datafilename,       
                                                                        BooleanType append                      
                                                                        );

returnValue qpOASES_writeIntoFileI(     const int* const integer,       
                                                                        int n,                                          
                                                                        const char* datafilename,       
                                                                        BooleanType append                      
                                                                        );

returnValue qpOASES_writeIntoMatFile(   FILE* const matFile,            
                                                                                const real_t* const data,       
                                                                                int nRows,                                      
                                                                                int nCols,                                      
                                                                                const char* name                        
                                                                                );

returnValue qpOASES_writeIntoMatFileI(  FILE* const matFile,            
                                                                                const int* const data,          
                                                                                int nRows,                                      
                                                                                int nCols,                                      
                                                                                const char* name                        
                                                                                );


real_t qpOASES_getCPUtime( );


real_t qpOASES_getNorm( const real_t* const v,  
                                                int n,                                  
                                                int type                                
                                                );

static inline BooleanType qpOASES_isEqual(      real_t x,       
                                                                                        real_t y,       
                                                                                        real_t TOL      
                                                                                        );


static inline BooleanType qpOASES_isZero(       real_t x,                       
                                                                                        real_t TOL                      
                                                                                        );


static inline real_t qpOASES_getSign(   real_t arg      
                                                                                );


static inline int qpOASES_getMaxI(      int x,  
                                                                        int y   
                                                                        );


static inline int qpOASES_getMinI(      int x,  
                                                                        int y   
                                                                        );


static inline real_t qpOASES_getMax(    real_t x,       
                                                                                real_t y        
                                                                                );


static inline real_t qpOASES_getMin(    real_t x,       
                                                                                real_t y        
                                                                                );


static inline real_t qpOASES_getAbs(    real_t x        
                                                                                );

static inline real_t qpOASES_getSqrt(   real_t x        
                                                                                );


returnValue qpOASES_getKktViolation(    int nV,                                         
                                                                                int nC,                                         
                                                                                const real_t* const H,          
                                                                                const real_t* const g,          
                                                                                const real_t* const A,          
                                                                                const real_t* const lb,         
                                                                                const real_t* const ub,         
                                                                                const real_t* const lbA,        
                                                                                const real_t* const ubA,        
                                                                                const real_t* const x,          
                                                                                const real_t* const y,          
                                                                                real_t* const _stat,            
                                                                                real_t* const feas,                     
                                                                                real_t* const cmpl                      
                                                                                );

returnValue qpOASES_getKktViolationSB(  int nV,                                         
                                                                                const real_t* const H,          
                                                                                const real_t* const g,          
                                                                                const real_t* const lb,         
                                                                                const real_t* const ub,         
                                                                                const real_t* const x,          
                                                                                const real_t* const y,          
                                                                                real_t* const _stat,            
                                                                                real_t* const feas,                     
                                                                                real_t* const cmpl                      
                                                                                );


returnValue qpOASES_convertBooleanTypeToString( BooleanType value,              
                                                                                                char* const string              
                                                                                                );

returnValue qpOASES_convertSubjectToStatusToString(     SubjectToStatus value,  
                                                                                                        char* const string              
                                                                                                        );

returnValue qpOASES_convertPrintLevelToString(  PrintLevel value,               
                                                                                                char* const string              
                                                                                                );


int qpOASES_getSimpleStatus(    returnValue returnvalue,        
                                                                BooleanType doPrintStatus       
                                                                );

returnValue qpOASES_normaliseConstraints(       int nV,                 
                                                                                        int nC,                 
                                                                                        real_t* A,              
                                                                                        real_t* lbA,    
                                                                                        real_t* ubA,    
                                                                                        int type                
                                                                                        );


#ifdef __DEBUG__

void gdb_printmat(      const char *fname,                      
                                        real_t *M,                                      
                                        int n,                                          
                                        int m,                                          
                                        int ldim                                        
                                        );
#endif /* __DEBUG__ */


#if defined(__DSPACE__) || defined(__XPCTARGET__) 
void __cxa_pure_virtual( void );
#endif /* __DSPACE__ || __XPCTARGET__*/ 



/*
 *   i s E q u a l
 */
static inline BooleanType qpOASES_isEqual(      real_t x,
                                                                                        real_t y,
                                                                                        real_t TOL
                                                                                        )
{
    if ( qpOASES_getAbs(x-y) <= TOL )
                return BT_TRUE;
        else
                return BT_FALSE;
}


/*
 *   i s Z e r o
 */
static inline BooleanType qpOASES_isZero(       real_t x,
                                                                                        real_t TOL
                                                                                        )
{
    if ( qpOASES_getAbs(x) <= TOL )
                return BT_TRUE;
        else
                return BT_FALSE;
}


/*
 *   g e t S i g n
 */
static inline real_t qpOASES_getSign(   real_t arg
                                                                                )
{
        if ( arg >= 0.0 )
                return 1.0;
        else
                return -1.0;
}



/*
 *   g e t M a x
 */
static inline int qpOASES_getMaxI(      int x,
                                                                        int y
                                                                        )
{
    return (y<x) ? x : y;
}


/*
 *   g e t M i n
 */
static inline int qpOASES_getMinI(      int x,
                                                                        int y
                                                                        )
{
    return (y>x) ? x : y;
}


/*
 *   g e t M a x
 */
static inline real_t qpOASES_getMax(    real_t x,
                                                                                real_t y
                                                                                )
{
        #ifdef __NO_FMATH__
    return (y<x) ? x : y;
        #else
        return (y<x) ? x : y;
        /*return fmax(x,y); seems to be slower */
        #endif
}


/*
 *   g e t M i n
 */
static inline real_t qpOASES_getMin(    real_t x,
                                                                                real_t y
                                                                                )
{
        #ifdef __NO_FMATH__
    return (y>x) ? x : y;
        #else
        return (y>x) ? x : y;
        /*return fmin(x,y); seems to be slower */
        #endif
}


/*
 *   g e t A b s
 */
static inline real_t qpOASES_getAbs(    real_t x
                                                                                )
{
        #ifdef __NO_FMATH__
        return (x>=0.0) ? x : -x;
        #else
        return fabs(x);
        #endif
}

/*
 *   g e t S q r t
 */
static inline real_t qpOASES_getSqrt(   real_t x
                                                                                )
{
    #ifdef __NO_FMATH__
        return sqrt(x); /* put your custom sqrt-replacement here */
        #else
        return sqrt(x);
        #endif
}


END_NAMESPACE_QPOASES


#endif  /* QPOASES_UTILS_H */


/*
 *      end of file
 */